WIP

Buildscripts/devicetree-compiler/source/generator.py

@@ -124,7 +124,7 @@ def write_device(file, device: Device, bindings: list[Binding], verbose: bool):
     file.write(f"\t.config = &{config_instance_name},\n")
     file.write(f"\t.api = &{api_instance_name},\n")
     file.write("\t.state = { .init_result = 0, .initialized = false },\n")
-    file.write("\t.data = nullptr,\n")
+    file.write("\t.data = NULL,\n")
     file.write("\t.operations = { ")
     file.write(f".init = {init_function_name}, ")
     file.write(f".deinit = {deinit_function_name}")
@@ -157,7 +157,7 @@ def write_device_list(file, devices: list[Device]):
     for device in devices:
         write_device_list_entry(file, device)
     # Terminator
-    file.write(f"\tnullptr\n")
+    file.write(f"\tNULL\n")
     file.write("};\n\n")
 
 def generate_devicetree_c(filename: str, items: list[object], bindings: list[Binding], verbose: bool):
@@ -184,14 +184,14 @@ def generate_devicetree_h(filename: str):
     with open(filename, "w") as file:
         file.write(dedent('''\
         #pragma once
-        #include <device.h>
+        #include <tactility/device.h>
         
         #ifdef __cplusplus
         extern "C" {
         #endif
         
         /**
-         * @return an array of device* where the last item in the array is nullptr
+         * @return an array of device* where the last item in the array is NULL
          */
         struct device** devices_builtin_get();
         

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.20)
 
-set(CMAKE_CXX_STANDARD 26)
+set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_ASM_COMPILE_OBJECT "${CMAKE_CXX_COMPILER_TARGET}")
 
 include("Buildscripts/logo.cmake")
@@ -32,6 +32,7 @@ if (DEFINED ENV{ESP_IDF_VERSION})
         "Firmware"
         "Devices/${TACTILITY_DEVICE_PROJECT}"
         "Drivers"
+        "core"
         "Tactility"
         "TactilityC"
         "TactilityCore"
@@ -80,8 +81,7 @@ if (NOT DEFINED ENV{ESP_IDF_VERSION})
     add_subdirectory(Libraries/QRCode)
     add_subdirectory(Libraries/minitar)
     add_subdirectory(Libraries/minmea)
-    add_subdirectory(Drivers/drivers-abstract)
-    add_subdirectory(Drivers/drivers-core)
+    add_subdirectory(core)
 
     # FreeRTOS
     set(FREERTOS_CONFIG_FILE_DIRECTORY ${PROJECT_SOURCE_DIR}/Devices/simulator/Source CACHE STRING "")

Devices/lilygo-tlora-pager/CMakeLists.txt

@@ -1,12 +1,7 @@
 file(GLOB_RECURSE SOURCE_FILES Source/*.c*)
 
-set(CMAKE_CXX_STANDARD 26)
-set(CMAKE_C_STANDARD 23)
-
 idf_component_register(
     SRCS ${SOURCE_FILES}
     INCLUDE_DIRS "Source"
     REQUIRES Tactility esp_lcd ST7796 BQ25896 BQ27220 TCA8418 DRV2605 PwmBacklight driver esp_adc drivers-esp
 )
-
-target_compile_options(${COMPONENT_LIB} PRIVATE -std=c23)

Devices/lilygo-tlora-pager/Source/drivers/tlora_pager.h

@@ -4,8 +4,8 @@
 extern "C" {
 #endif
 
-#include <device.h>
-#include <drivers/root.h>
+#include <tactility/device.h>
+#include <tactility/drivers/root.h>
 
 // Inherit base config
 #define tlora_pager_config root_config

Devices/lilygo-tlora-pager/lilygo,tlora_pager.dts

@@ -1,8 +1,8 @@
 /dts-v1/;
 
 #include <drivers/tlora_pager.h>
-#include <drivers-esp/esp32_gpio.h>
-#include <drivers-esp/esp32_i2c.h>
+#include <tactility/drivers/esp32_gpio.h>
+#include <tactility/drivers/esp32_i2c.h>
 
 / {
 	compatible = "lilygo,tlora-pager";
@@ -18,5 +18,6 @@
 		clock-frequency = <100000>;
 		pin-sda = <&gpio0 3 GPIO_ACTIVE_HIGH>;
 		pin-scl = <&gpio0 2 GPIO_ACTIVE_HIGH>;
+		port = <I2C_NUM_0>;
 	};
 };

Devices/simulator/devicetree.yaml

@@ -1,4 +1,4 @@
 dependencies:
-  - Drivers/drivers-abstract
+  - core
 bindings: ./
 dts: simulator.dts

Devices/simulator/simulator.dts

@@ -1,7 +1,7 @@
 /dts-v1/;
 
-#include <device.h>
-#include <drivers/root.h>
+#include <tactility/device.h>
+#include <tactility/drivers/root.h>
 
 / {
 	model = "Simulator";

Drivers/drivers-abstract/CMakeLists.txt

@@ -1,23 +0,0 @@
-cmake_minimum_required(VERSION 3.20)
-
-file(GLOB_RECURSE SOURCES "source/*.c**")
-
-if (DEFINED ENV{ESP_IDF_VERSION})
-
-    idf_component_register(
-        SRCS ${SOURCES}
-        INCLUDE_DIRS "include/"
-        REQUIRES drivers-core
-    )
-
-    target_compile_options(${COMPONENT_LIB} PRIVATE -std=c23)
-
-else ()
-
-    add_library(drivers-abstract OBJECT)
-    target_sources(drivers-abstract PRIVATE ${SOURCES})
-    target_include_directories(drivers-abstract PUBLIC include/)
-    target_link_libraries(drivers-abstract PUBLIC drivers-core)
-    target_compile_options(drivers-abstract PRIVATE -std=c23)
-
-endif ()

Drivers/drivers-abstract/include/drivers/i2c_controller.h

@@ -1,23 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-#include "gpio.h"
-
-struct i2c_controller_config {
-    uint32_t clock_frequency;
-    struct gpio_pin_config pin_sda;
-    struct gpio_pin_config pin_scl;
-};
-
-struct i2c_controller_api {
-    bool (*master_read)(struct device* dev, uint8_t address, uint8_t* data, size_t dataSize); // TODO: add timeout
-    bool (*master_write)(struct device* dev, uint8_t address, const uint8_t* data, uint16_t dataSize); // TODO: add timeout
-};
-
-#ifdef __cplusplus
-}
-#endif

Drivers/drivers-abstract/source/i2c_controller.c

@@ -1,5 +0,0 @@
-#include "drivers/i2c_controller.h"
-
-#if !defined(CONFIG_I2C_CONTROLLER_DEVICE_COUNT_LIMIT)
-#define CONFIG_I2C_CONTROLLER_DEVICE_COUNT_LIMIT 4
-#endif

Drivers/drivers-core/CMakeLists.txt

@@ -1,21 +0,0 @@
-cmake_minimum_required(VERSION 3.20)
-
-file(GLOB_RECURSE SOURCES "source/*.c**")
-
-if (DEFINED ENV{ESP_IDF_VERSION})
-
-    idf_component_register(
-        SRCS ${SOURCES}
-        INCLUDE_DIRS "include/"
-    )
-
-    target_compile_options(${COMPONENT_LIB} PRIVATE -std=c23)
-
-else ()
-
-    add_library(drivers-core OBJECT)
-    target_sources(drivers-core PRIVATE ${SOURCES})
-    target_include_directories(drivers-core PUBLIC include/)
-    target_compile_options(drivers-core PRIVATE -std=c23)
-
-endif ()

Drivers/drivers-esp/CMakeLists.txt

@@ -7,17 +7,14 @@ if (DEFINED ENV{ESP_IDF_VERSION})
     idf_component_register(
         SRCS ${SOURCES}
         INCLUDE_DIRS "include/"
-        REQUIRES drivers-abstract driver
+        REQUIRES core driver
     )
 
-    target_compile_options(${COMPONENT_LIB} PRIVATE -std=c23)
-
 else ()
 
     add_library(drivers-esp OBJECT)
     target_sources(drivers-esp PRIVATE ${SOURCES})
     target_include_directories(drivers-esp PUBLIC include/)
-    target_link_libraries(drivers-esp PUBLIC drivers-abstract)
-    target_compile_options(drivers-esp PRIVATE -std=c23)
+    target_link_libraries(drivers-esp PUBLIC core)
 
 endif ()

Drivers/drivers-esp/bindings/espressif,esp32-i2c.yaml

@@ -1,3 +1,10 @@
 description: ESP32 GPIO Controller
 
 include: ["i2c-controller.yaml"]
+
+properties:
+  port:
+    type: int
+    description: |
+      The port number, defined by i2c_port_t.
+      Depending on the hardware, these values are available: I2C_NUM_0, I2C_NUM_1, LP_I2C_NUM_0

Drivers/drivers-esp/devicetree.yaml

@@ -1,3 +1,3 @@
 dependencies:
-  - Drivers/drivers-abstract
+  - core
 bindings: bindings

Drivers/drivers-esp/include/drivers-esp/esp32_i2c.h

@@ -1,22 +0,0 @@
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <device.h>
-#include <drivers/i2c_controller.h>
-
-// Inherit base config
-#define esp32_i2c_config i2c_controller_config
-
-// Inherit base API
-#define esp32_i2c_api i2c_controller_api
-
-int esp32_i2c_init(const struct device* device);
-
-int esp32_i2c_deinit(const struct device* device);
-
-#ifdef __cplusplus
-}
-#endif

Drivers/drivers-esp/include/tactility/drivers/esp32_gpio.h

@@ -4,10 +4,13 @@
 extern "C" {
 #endif
 
-#include <device.h>
-#include <drivers/gpio_controller.h>
+#include <tactility/device.h>
+#include <tactility/drivers/gpio_controller.h>
+
+struct esp32_gpio_config {
+    uint8_t gpio_count;
+};
 
-#define esp32_gpio_config gpio_controller_config
 #define esp32_gpio_api gpio_controller_api
 
 int esp32_gpio_init(const struct device* device);

Drivers/drivers-esp/include/tactility/drivers/esp32_i2c.h

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <hal/i2c_types.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <tactility/device.h>
+#include <tactility/drivers/i2c_controller.h>
+
+struct esp32_i2c_config {
+    uint32_t clock_frequency;
+    struct gpio_pin_config pin_sda;
+    struct gpio_pin_config pin_scl;
+    const i2c_port_t port;
+};
+
+// Inherit base API
+#define esp32_i2c_api i2c_controller_api
+
+int esp32_i2c_init(const struct device* device);
+
+int esp32_i2c_deinit(const struct device* device);
+
+#ifdef __cplusplus
+}
+#endif

Drivers/drivers-esp/source/esp32_gpio.c

@@ -1,12 +1,13 @@
-#include <drivers-esp/esp32_gpio.h>
-#include <drivers/gpio_controller.h>
-#include <drivers/gpio.h>
-// ESP
-#include <esp_log.h>
+#include <tactility/drivers/esp32_gpio.h>
+#include <tactility/drivers/gpio_controller.h>
+
 #include <driver/gpio.h>
+#include <esp_log.h>
 
 #define TAG "esp32_gpio"
 
+#define GET_CONFIG(dev) ((struct esp32_gpio_config*)dev->config)
+
 static bool set_level(const struct device* dev, gpio_pin_t pin, bool high) {
     return gpio_set_level(pin, high) == ESP_OK;
 }
@@ -17,16 +18,70 @@ static bool get_level(const struct device* dev, gpio_pin_t pin, bool* high) {
 }
 
 static bool set_options(const struct device* dev, gpio_pin_t pin, gpio_flags_t options) {
-    // TODO
-    // gpio_set_direction()
-    // gpio_set_pull_mode()
-    return true;
+    const struct esp32_gpio_config* config = GET_CONFIG(dev);
+
+    if (pin >= config->gpio_count) {
+        return false;
+    }
+
+    gpio_mode_t mode;
+    if (options & (GPIO_DIRECTION_INPUT_OUTPUT)) {
+        mode = GPIO_MODE_INPUT_OUTPUT;
+    } else if (options & GPIO_DIRECTION_INPUT) {
+        mode = GPIO_MODE_INPUT;
+    } else if (options & GPIO_DIRECTION_OUTPUT) {
+        mode = GPIO_MODE_OUTPUT;
+    } else {
+        assert(false);
+    }
+
+    const gpio_config_t esp_config = {
+        .pin_bit_mask = 1UL << pin,
+        .mode = mode,
+        .pull_up_en = (options & GPIO_PULL_UP) ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
+        .pull_down_en = (options & GPIO_PULL_DOWN) ? GPIO_PULLDOWN_ENABLE : GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTERRUPT_FROM_OPTIONS(options),
+#if SOC_GPIO_SUPPORT_PIN_HYS_FILTER
+        .hys_ctrl_mode = GPIO_HYS_CTRL_EFUSE
+#endif
+    };
+
+    return gpio_config(&esp_config) == ESP_OK;
 }
 
 static bool get_options(const struct device* dev, gpio_pin_t pin, gpio_flags_t* options) {
-    // gpio_get_direction()
-    // gpio_get_pull_mode()
-    // TODO
+    gpio_io_config_t esp_config;
+    if (gpio_get_io_config((gpio_num_t)pin, &esp_config) != ESP_OK) {
+        return false;
+    }
+
+    gpio_flags_t output = 0;
+
+    if (esp_config.pu) {
+        output |= GPIO_PULL_UP;
+    }
+
+    if (esp_config.pd) {
+        output |= GPIO_PULL_DOWN;
+    }
+
+    if (esp_config.ie) {
+        output |= GPIO_DIRECTION_INPUT;
+    }
+
+    if (esp_config.oe) {
+        output |= GPIO_DIRECTION_OUTPUT;
+    }
+
+    if (esp_config.oe) {
+        output |= GPIO_DIRECTION_OUTPUT;
+    }
+
+    if (esp_config.oe_inv) {
+        output |= GPIO_ACTIVE_LOW;
+    }
+
+    *options = output;
     return true;
 }
 

Drivers/drivers-esp/source/esp32_i2c.c

@@ -1,23 +1,39 @@
-#include "drivers-esp/esp32_i2c.h"
-#include <drivers/i2c_controller.h>
+#include "tactility/drivers/esp32_i2c.h"
+
+#include "driver/i2c.h"
+
 #include <esp_log.h>
-#include <stdio.h>
+#include <tactility/drivers/i2c_controller.h>
 
 #define TAG "esp32_i2c"
 
-#define GET_CONFIG(dev) static_cast<struct i2c_esp_config>(dev->config)
+#define GET_CONFIG(dev) ((struct esp32_i2c_config*)dev->config)
 
-static bool master_read(struct device* dev, uint8_t address, uint8_t* data, size_t dataSize) {
-    return true;
+static bool read(struct device* dev, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout) {
+    // TODO: mutex
+    esp_err_t result = i2c_master_read_from_device(GET_CONFIG(dev)->port, address, data, dataSize, timeout);
+    ESP_ERROR_CHECK_WITHOUT_ABORT(result);
+    return result == ESP_OK;
 }
 
-static bool master_write(struct device* dev, uint8_t address, const uint8_t* data, uint16_t dataSize) {
-    return true;
+static bool write(struct device* dev, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout) {
+    // TODO: mutex
+    esp_err_t result = i2c_master_write_to_device(GET_CONFIG(dev)->port, address, data, dataSize, timeout);
+    ESP_ERROR_CHECK_WITHOUT_ABORT(result);
+    return result == ESP_OK;
+}
+
+static bool write_read(struct device* dev, uint8_t address, const uint8_t* write_data, size_t write_data_size, uint8_t* read_data, size_t read_data_size, TickType_t timeout) {
+    // TODO: mutex
+    esp_err_t result = i2c_master_write_read_device(GET_CONFIG(dev)->port, address, write_data, write_data_size, read_data, read_data_size, timeout);
+    ESP_ERROR_CHECK_WITHOUT_ABORT(result);
+    return result == ESP_OK;
 }
 
 const struct esp32_i2c_api esp32_i2c_api_instance = {
-    .master_read = master_read,
-    .master_write = master_write
+    .read = read,
+    .write = write,
+    .write_read = write_read
 };
 
 int esp32_i2c_init(const struct device* device) {

Firmware/CMakeLists.txt

@@ -1,8 +1,5 @@
 cmake_minimum_required(VERSION 3.20)
 
-set(CMAKE_CXX_STANDARD 26)
-set(CMAKE_C_STANDARD 23)
-
 file(GLOB_RECURSE SOURCE_FILES "Source/*.c*")
 
 # Determine device identifier and project location
@@ -25,9 +22,8 @@ if (DEFINED ENV{ESP_IDF_VERSION})
     idf_component_register(
         SRCS ${SOURCE_FILES}
         REQUIRES ${DEVICE_COMPONENTS}
-        REQUIRES Tactility TactilityC drivers-core drivers-abstract drivers-esp ${TACTILITY_DEVICE_PROJECT}
+        REQUIRES Tactility TactilityC core drivers-esp ${TACTILITY_DEVICE_PROJECT}
     )
-    target_compile_options(${COMPONENT_LIB} PRIVATE -std=c23)
 
 else ()
 
@@ -38,12 +34,10 @@ else ()
         PRIVATE TactilityFreeRtos
         PRIVATE Simulator
         PRIVATE SDL2::SDL2-static SDL2-static
-        PRIVATE drivers-abstract
-        PRIVATE drivers-core
+        PRIVATE core
     )
 
     target_include_directories(FirmwareSim PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated")
-    target_compile_options(FirmwareSim PRIVATE -std=c++23)
 
     add_definitions(-D_Nullable=)
     add_definitions(-D_Nonnull=)

Libraries/lv_screenshot/CMakeLists.txt

@@ -1,9 +1,5 @@
 cmake_minimum_required(VERSION 3.20)
 
-set(CMAKE_CXX_STANDARD 26)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-
 if (DEFINED ENV{ESP_IDF_VERSION})
     idf_component_register(
         SRC_DIRS "Source/"

Libraries/minmea/CMakeLists.txt

@@ -1,9 +1,5 @@
 cmake_minimum_required(VERSION 3.20)
 
-set(CMAKE_CXX_STANDARD 26)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_CXX_EXTENSIONS OFF)
-
 if (DEFINED ENV{ESP_IDF_VERSION})
     idf_component_register(
         SRC_DIRS "Source/"

Tactility/CMakeLists.txt

@@ -1,12 +1,10 @@
 cmake_minimum_required(VERSION 3.20)
 
-set(CMAKE_CXX_STANDARD 26)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 if (DEFINED ENV{ESP_IDF_VERSION})
     file(GLOB_RECURSE SOURCE_FILES Source/*.c*)
 
     list(APPEND REQUIRES_LIST
+        core
         TactilityCore
         TactilityFreeRtos
         lvgl
@@ -27,8 +25,6 @@ if (DEFINED ENV{ESP_IDF_VERSION})
         vfs
         fatfs
         lwip
-        drivers-abstract
-        drivers-core
     )
 
     if ("${IDF_TARGET}" STREQUAL "esp32s3")
@@ -81,8 +77,7 @@ else()
         PUBLIC lv_screenshot
         PUBLIC minmea
         PUBLIC minitar
-        PUBLIC drivers-abstract
-        PUBLIC drivers-core
+        PUBLIC core
     )
 endif()
 

Tactility/Include/Tactility/Tactility.h

@@ -4,7 +4,8 @@
 #include <Tactility/app/AppManifest.h>
 #include <Tactility/hal/Configuration.h>
 #include <Tactility/service/ServiceManifest.h>
-#include <device.h>
+
+#include <tactility/device.h>
 
 namespace tt {
 

TactilityC/CMakeLists.txt

@@ -1,8 +1,5 @@
 cmake_minimum_required(VERSION 3.20)
 
-set(CMAKE_CXX_STANDARD 26)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 if (DEFINED ENV{ESP_IDF_VERSION})
     file(GLOB_RECURSE SOURCE_FILES Source/*.c*)
 

TactilityCore/CMakeLists.txt

@@ -1,8 +1,5 @@
 cmake_minimum_required(VERSION 3.20)
 
-set(CMAKE_CXX_STANDARD 26)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 if (DEFINED ENV{ESP_IDF_VERSION})
     file(GLOB_RECURSE SOURCE_FILES Source/*.c*)
 

TactilityFreeRtos/CMakeLists.txt

@@ -1,8 +1,5 @@
 cmake_minimum_required(VERSION 3.20)
 
-set(CMAKE_CXX_STANDARD 26)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 if (DEFINED ENV{ESP_IDF_VERSION})
 
     idf_component_register(

TactilityFreeRtos/Include/Tactility/freertoscompat/Queue.h

@@ -1,3 +1,5 @@
+#pragma once
+
 #ifdef ESP_PLATFORM
 #include <freertos/FreeRTOS.h>
 #include <freertos/queue.h>

core/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.20)
+
+file(GLOB_RECURSE SOURCES "source/*.c**")
+
+if (DEFINED ENV{ESP_IDF_VERSION})
+
+    idf_component_register(
+        SRCS ${SOURCES}
+        INCLUDE_DIRS "include/"
+    )
+
+else ()
+
+    add_library(core OBJECT ${SOURCES})
+    target_include_directories(core PUBLIC include/)
+    target_link_libraries(core PUBLIC freertos_kernel)
+
+endif ()

core/include/tactility/device.h

@@ -6,6 +6,7 @@ extern "C" {
 
 #include <stdint.h>
 #include <stddef.h>
+#include <stdbool.h>
 
 struct device;
 

core/include/tactility/drivers/gpio.h

@@ -4,23 +4,33 @@
 extern "C" {
 #endif
 
-#include <device.h>
+#include <tactility/device.h>
 
 #define GPIO_OPTIONS_MASK 0x1f
 
 #define GPIO_ACTIVE_HIGH (0 << 0)
 #define GPIO_ACTIVE_LOW (1 << 0)
 
-#define GPIO_UNIDIRECTIONAL (0 << 1)
-#define GPIO_BIDIRECTIONAL (1 << 1)
-
-#define GPIO_OPEN_DRAIN (GPIO_UNIDIRECTIONAL | (0 << 2))
-#define GPIO_OPEN_SOURCE (GPIO_UNIDIRECTIONAL | (1 << 2))
+#define GPIO_DIRECTION_INPUT (1 << 1)
+#define GPIO_DIRECTION_OUTPUT (1 << 2)
+#define GPIO_DIRECTION_INPUT_OUTPUT (GPIO_DIRECTION_INPUT | GPIO_DIRECTION_OUTPUT)
 
 #define GPIO_PULL_UP (0 << 3)
 #define GPIO_PULL_DOWN (1 << 4)
 
-#define GPIO_INTERRUPT_WAKE_UP (1 << 5)
+#define GPIO_INTERRUPT_BITMASK (0b111 << 5) // 3 bits to hold the values [0, 5]
+#define GPIO_INTERRUPT_FROM_OPTIONS(options) (gpio_interrupt_type_t)((options & GPIO_INTERRUPT_BITMASK) >> 5)
+#define GPIO_INTERRUPT_TO_OPTIONS(options, interrupt) (options | (interrupt << 5))
+
+typedef enum {
+    GPIO_INTERRUPT_DISABLE = 0,
+    GPIO_INTERRUPT_POS_EDGE = 1,
+    GPIO_INTERRUPT_NEG_EDGE = 2,
+    GPIO_INTERRUPT_ANY_EDGE = 3,
+    GPIO_INTERRUPT_LOW_LEVEL = 4,
+    GPIO_INTERRUPT_HIGH_LEVEL = 5,
+    GPIO__MAX,
+} gpio_interrupt_type_t;
 
 /**
  * @brief Provides a type to hold a GPIO pin index.

core/include/tactility/drivers/gpio_controller.h

@@ -4,13 +4,9 @@
 extern "C" {
 #endif
 
-#include <stdint.h>
+#include <stdbool.h>
 #include "gpio.h"
 
-struct gpio_controller_config {
-    uint8_t gpio_count;
-};
-
 struct gpio_controller_api {
     bool (*set_level)(const struct device*, gpio_pin_t pin, bool high);
     bool (*get_level)(const struct device*, gpio_pin_t pin, bool* high);
@@ -18,9 +14,6 @@ struct gpio_controller_api {
     bool (*get_options)(const struct device*, gpio_pin_t pin, gpio_flags_t* options);
 };
 
-#define GPIO_API(dev) ((struct gpio_controller_api*)dev->api)
-#define GPIO_CONFIG(dev) ((struct gpio_controller_config*)dev->config)
-
 bool gpio_controller_set_level(const struct device* dev, gpio_pin_t pin, bool high);
 bool gpio_controller_get_level(const struct device* dev, gpio_pin_t pin, bool* high);
 bool gpio_controller_set_options(const struct device* dev, gpio_pin_t pin, gpio_flags_t options);

core/include/tactility/drivers/i2c_controller.h

@@ -0,0 +1,26 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <tactility/freertos/freertos.h>
+#include "gpio.h"
+
+struct i2c_controller_api {
+    bool (*read)(struct device* dev, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout);
+    bool (*write)(struct device* dev, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
+    bool (*write_read)(struct device* dev, uint8_t address, const uint8_t* write_data, size_t write_data_size, uint8_t* read_data, size_t read_data_size, TickType_t timeout);
+};
+
+bool i2c_controller_read(struct device* dev, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout);
+
+bool i2c_controller_write(struct device* dev, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
+
+bool i2c_controller_write_read(struct device* dev, uint8_t address, const uint8_t* write_data, size_t write_data_size, uint8_t* read_data, size_t read_data_size, TickType_t timeout);
+
+#ifdef __cplusplus
+}
+#endif

core/include/tactility/freertos/README.md

@@ -0,0 +1,3 @@
+Compatibility include files for FreeRTOS.
+Custom FreeRTOS from ESP-IDF prefixes paths with "freertos/",
+but this isn't the normal behaviour for the regular FreeRTOS project.

core/include/tactility/freertos/event_groups.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#include <freertos/event_groups.h>
+#else
+#include <FreeRTOS.h>
+#include <event_groups.h>
+#endif
+

core/include/tactility/freertos/freertos.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#else
+#include <FreeRTOS.h>
+#endif

core/include/tactility/freertos/port.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#include "freertos.h"
+
+#ifndef ESP_PLATFORM
+#define xPortInIsrContext(x) (false)
+#endif

core/include/tactility/freertos/queue.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#include <freertos/queue.h>
+#else
+#include <FreeRTOS.h>
+#include <queue.h>
+#endif
+

core/include/tactility/freertos/semaphore.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
+#else
+#include <FreeRTOS.h>
+#include <semphr.h>
+#endif
+
+#include <assert.h>
+
+struct SemaphoreHandleDeleter {
+  static void operator()(QueueHandle_t handleToDelete) {
+    assert(xPortInIsrContext() == pdFALSE);
+    vSemaphoreDelete(handleToDelete);
+  }
+};
+

core/include/tactility/freertos/task.h

@@ -0,0 +1,10 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#else
+#include <FreeRTOS.h>
+#include <task.h>
+#endif
+

core/include/tactility/freertos/timers.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <freertos/FreeRTOS.h>
+#include <freertos/timers.h>
+#else
+#include <FreeRTOS.h>
+#include <timers.h>
+#endif

core/include/tactility/log.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <esp_log.h>
+#endif
+
+#ifndef ESP_PLATFORM
+
+void log_generic(const char* tag, const char* format, ...);
+
+#define LOG_E(x, ...) log(x, ##__VA_ARGS__)
+#define LOG_W(x, ...) log(x, ##__VA_ARGS__)
+#define LOG_I(x, ...) log(x, ##__VA_ARGS__)
+#define LOG_D(x, ...) log(x, ##__VA_ARGS__)
+#define LOG_V(x, ...) log(x, ##__VA_ARGS__)
+
+#else
+
+#define LOG_E(x, ...) ESP_LOGD(x, ##__VA_ARGS__)
+#define LOG_W(x, ...) ESP_LOGW(x, ##__VA_ARGS__)
+#define LOG_I(x, ...) ESP_LOGI(x, ##__VA_ARGS__)
+#define LOG_D(x, ...) ESP_LOGD(x, ##__VA_ARGS__)
+#define LOG_V(x, ...) ESP_LOGV(x, ##__VA_ARGS__)
+
+#endif

core/source/device.c

@@ -1,25 +1,27 @@
-#include "device.h"
+#include <tactility/device.h>
+#include <tactility/log.h>
 
 #include <assert.h>
 #include <stdio.h>
 #include <string.h>
 
 #define CONFIG_DEVICE_INDEX_SIZE 64
+#define TAG "device"
 
 // TODO: Automatically increase allocated size
 static const struct device* device_index[CONFIG_DEVICE_INDEX_SIZE ] = {
-    nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr,
-    nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr,
-    nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr,
-    nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr, nullptr
+    NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL,
+    NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL,
+    NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL,
+    NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL
 };
 
 uint8_t device_init(struct device* const dev) {
-    assert(dev != nullptr);
-    printf("device_init: %s\n", dev->name);
+    assert(dev != NULL);
+    LOG_I(TAG, "init %s", dev->name);
 
     if (!dev->state.initialized) {
-        if (dev->operations.init == nullptr) {
+        if (dev->operations.init == NULL) {
             dev->state.initialized = true;
             dev->state.init_result = 0U;
         } else {
@@ -32,10 +34,10 @@ uint8_t device_init(struct device* const dev) {
 }
 
 bool device_init_all(struct device** const device_array) {
-    assert(device_array != nullptr);
+    assert(device_array != NULL);
     struct device** current_device = device_array;
     bool all_succeeded = true;
-    while (*current_device != nullptr) {
+    while (*current_device != NULL) {
         struct device* device = *current_device;
         if (device_init(device) != 0U) {
             all_succeeded = false;
@@ -46,10 +48,11 @@ bool device_init_all(struct device** const device_array) {
 }
 
 uint8_t device_deinit(struct device* const dev) {
-    assert(dev != nullptr);
+    assert(dev != NULL);
+    LOG_I(TAG, "deinit %s", dev->name);
 
     if (dev->state.initialized) {
-        if (dev->operations.deinit != nullptr) {
+        if (dev->operations.deinit != NULL) {
             dev->state.init_result = dev->operations.deinit(dev);
             if (dev->state.init_result == 0U) {
                 dev->state.initialized = false;
@@ -63,15 +66,16 @@ uint8_t device_deinit(struct device* const dev) {
 }
 
 bool device_is_ready(const struct device* const dev) {
-    assert(dev != nullptr);
+    assert(dev != NULL);
     return dev->state.initialized && (dev->state.init_result == 0U);
 }
 
 
 void device_add(const struct device* dev) {
-    assert(dev != nullptr);
+    assert(dev != NULL);
+    LOG_I(TAG, "add %s", dev->name);
     for (int i = 0; i < CONFIG_DEVICE_INDEX_SIZE; i++) {
-        if (device_index[i] == nullptr) {
+        if (device_index[i] == NULL) {
             device_index[i] = dev;
             return;
         }
@@ -80,9 +84,9 @@ void device_add(const struct device* dev) {
 }
 
 void device_add_all(struct device** const device_array) {
-    assert(device_array != nullptr);
+    assert(device_array != NULL);
     struct device** current_device = device_array;
-    while (*current_device != nullptr) {
+    while (*current_device != NULL) {
         struct device* device = *current_device;
         device_add(device);
         current_device++;
@@ -90,10 +94,11 @@ void device_add_all(struct device** const device_array) {
 }
 
 bool device_remove(const struct device* dev) {
-    assert(dev != nullptr);
+    assert(dev != NULL);
+    LOG_I(TAG, "remove %s", dev->name);
     for (int i = 0; i < CONFIG_DEVICE_INDEX_SIZE; i++) {
         if (device_index[i] == dev) {
-            device_index[i] = nullptr;
+            device_index[i] = NULL;
             return true;
         }
     }
@@ -101,10 +106,10 @@ bool device_remove(const struct device* dev) {
 }
 
 bool device_find_next_by_compatible(const char* identifier, const struct device** dev) {
-    bool found_first = (*dev == nullptr);
+    bool found_first = (*dev == NULL);
     for (int device_idx = 0; device_idx < CONFIG_DEVICE_INDEX_SIZE; device_idx++) {
-        auto indexed_device = device_index[device_idx];
-        if (indexed_device != nullptr) {
+        const struct device* indexed_device = device_index[device_idx];
+        if (indexed_device != NULL) {
             if (!found_first) {
                 if (indexed_device == *dev) {
                     found_first = true;

core/source/drivers/gpio_controller.c

@@ -1,4 +1,6 @@
-#include <drivers/gpio_controller.h>
+#include <tactility/drivers/gpio_controller.h>
+
+#define GPIO_API(dev) ((struct gpio_controller_api*)dev->api)
 
 bool gpio_controller_set_level(const struct device* dev, gpio_pin_t pin, bool high) {
     return GPIO_API(dev)->set_level(dev, pin, high);

core/source/drivers/i2c_controller.c

@@ -0,0 +1,15 @@
+#include <tactility/drivers/i2c_controller.h>
+
+#define GPIO_API(dev) ((struct i2c_controller_api*)dev->api)
+
+bool i2c_controller_read(struct device* dev, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout) {
+    return GPIO_API(dev)->read(dev, address, data, dataSize, timeout);
+}
+
+bool i2c_controller_write(struct device* dev, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout) {
+    return GPIO_API(dev)->write(dev, address, data, dataSize, timeout);
+}
+
+bool i2c_controller_write_read(struct device* dev, uint8_t address, const uint8_t* write_data, size_t write_data_size, uint8_t* read_data, size_t read_data_size, TickType_t timeout) {
+    return GPIO_API(dev)->write_read(dev, address, write_data, write_data_size, read_data, read_data_size, timeout);
+}

core/source/drivers/root.c

@@ -1,3 +1,3 @@
-#include <drivers/root.h>
+#include "tactility/drivers/root.h"
 
 const struct root_api root_api_instance = {};

core/source/log.c

@@ -0,0 +1,17 @@
+#include <tactility/log.h>
+
+#ifndef ESP_PLATFORM
+
+#include <stdio.h>
+#include <stdarg.h>
+
+void log_generic(const char* tag, const char* format, ...) {
+    va_list args;
+    va_start(args, format);
+    printf("%s ", tag);
+    vprintf(format, args);
+    printf("\n");
+    va_end(args);
+}
+
+#endif